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Gazebo中livox激光雷达仿真坐标系问题 #24

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nullgogo opened this issue Mar 8, 2024 · 2 comments
Open

Gazebo中livox激光雷达仿真坐标系问题 #24

nullgogo opened this issue Mar 8, 2024 · 2 comments

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@nullgogo
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nullgogo commented Mar 8, 2024

在Gazebo下仿真Horizon，把激光雷达加进去，在Rviz中在base_link小车底座坐标系下不能直接订阅雷达图，只有在雷达坐标系下才能订阅雷达图。显示警告：laser_livox No transform from [laser_livox] to [base_link]

tf树中，laser_livox不在base_link下，出现新的分支::base_link
@JiaoxianDu
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JiaoxianDu commented Apr 26, 2024 •
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我也遇到了这个问题，把livox_laser_simulation/src/livox_points_plugin.cpp中调用SendRosTf函数的两行注释掉就正常了，否则tf变换和urdf文件中定义的不一样

@SXY2724
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SXY2724 commented Jul 10, 2024

现在解决问题了马？我也遇到这个问题了

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@nullgogo @JiaoxianDu @SXY2724